updateScanPoses

Update absolute poses of 2-D lidar scans

Since R2022b

Syntax

updateScanPoses(scanMapObj,absPoses)

Description

updateScanPoses(scanMapObj,absPoses) updates the absolute poses of all lidar scans in the lidarscanmap object scanMapObj.

Examples

Update Absolute Poses of 2-D Lidar Scans in Map

Load a MAT file containing 2-D lidar scans into the workspace.

data = load("wareHouse.mat");
scans = data.wareHouseScans;

Create a lidarscanmap object.

scanMapObj = lidarscanmap;

Add the first 3 scans from the input data to the scanMapObj object by using the addScan function.

for currentID = 1:3
    addScan(scanMapObj,scans{currentID});
end

Update absolute poses of the scans.

absPoses = [1 0 0; 1 -2 -5; 1 3 -1];
updateScanPoses(scanMapObj,absPoses);

Input Arguments

scanMapObj — 2-D lidar scan map

lidarscanmap object

2-D lidar scan map, specified as a lidarscanmap object.

absPoses — Absolute poses of 2-D lidar scans

M-by-3 matrix

Absolute poses of 2-D lidar scans in the map, specified as an M-by-3 matrix, where M is the number of scans in the lidarscanmap object. Each row of the matrix is of the form [x y Θ], where x and y define the position in meters, and Θ defines the orientation of the scan in radians.

Version History

Introduced in R2022b